aligator::LinearFunctionTpl< Scalar > Struct Template Reference

Linear function \(f(x,u,y) = Ax + Bu + Cy + d\). More...

#include <aligator/modelling/linear-function.hpp>

Inheritance diagram for aligator::LinearFunctionTpl< Scalar >:

Collaboration diagram for aligator::LinearFunctionTpl< Scalar >:

Public Types
using	Base = StageFunctionTpl<Scalar>
using	Data = StageFunctionDataTpl<Scalar>
Public Types inherited from aligator::StageFunctionTpl< Scalar >
using	Scalar
using	Data
using	Scalar
using	Data

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	LinearFunctionTpl (const int ndx, const int nu, const int nr)
	LinearFunctionTpl (const ConstMatrixRef A, const ConstMatrixRef B, const ConstVectorRef d)
void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const override
	Evaluate the function.
void	computeJacobians (const ConstVectorRef &, const ConstVectorRef &, Data &data) const override
	Compute Jacobians of this function.
virtual shared_ptr< Data >	createData () const override
	Instantiate a Data object.
Public Member Functions inherited from aligator::StageFunctionTpl< Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	StageFunctionTpl (const int ndx, const int nu, const int nr)
virtual void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &lbda, Data &data) const
	Compute the vector-hessian products of this function.
virtual	~StageFunctionTpl ()=default
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	StageFunctionTpl (const int ndx, const int nu, const int nr)
virtual void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &lbda, Data &data) const
	Compute the vector-hessian products of this function.
virtual	~StageFunctionTpl ()=default

Public Attributes
MatrixXs	A_
MatrixXs	B_
VectorXs	d_
Public Attributes inherited from aligator::StageFunctionTpl< Scalar >
const int	ndx1
	Current state dimension.
const int	nu
	Control dimension.
const int	nr
	Function codimension.
const int	ndx1
	Current state dimension.
const int	nu
	Control dimension.
const int	nr
	Function codimension.

Detailed Description

template<typename Scalar>
struct aligator::LinearFunctionTpl< Scalar >

Linear function \(f(x,u,y) = Ax + Bu + Cy + d\).

Definition at line 9 of file linear-function.hpp.

Member Typedef Documentation

Base

template<typename Scalar>

using aligator::LinearFunctionTpl< Scalar >::Base = StageFunctionTpl<Scalar>

Definition at line 12 of file linear-function.hpp.

Data

template<typename Scalar>

using aligator::LinearFunctionTpl< Scalar >::Data = StageFunctionDataTpl<Scalar>

Definition at line 13 of file linear-function.hpp.

Constructor & Destructor Documentation

LinearFunctionTpl() [1/2]

template<typename Scalar>

aligator::LinearFunctionTpl< Scalar >::LinearFunctionTpl ( const int ndx, const int nu, const int nr )

inline

Definition at line 19 of file linear-function.hpp.

LinearFunctionTpl() [2/2]

template<typename Scalar>

aligator::LinearFunctionTpl< Scalar >::LinearFunctionTpl ( const ConstMatrixRef A, const ConstMatrixRef B, const ConstVectorRef d )

inline

Definition at line 26 of file linear-function.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename Scalar>

aligator::LinearFunctionTpl< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

evaluate()

template<typename Scalar>

void aligator::LinearFunctionTpl< Scalar >::evaluate ( const ConstVectorRef & x, const ConstVectorRef & u, Data & data ) const

inlineoverridevirtual

Evaluate the function.

Parameters

x	Current state.
u	Controls.
data	Data holding struct.

Implements aligator::StageFunctionTpl< Scalar >.

Definition at line 33 of file linear-function.hpp.

computeJacobians()

template<typename Scalar>

void aligator::LinearFunctionTpl< Scalar >::computeJacobians ( const ConstVectorRef & , const ConstVectorRef & , Data & data ) const

inlineoverridevirtual

Compute Jacobians of this function.

This implementation does nothing: the values of the Jacobians are already set in createData().

Implements aligator::StageFunctionTpl< Scalar >.

Definition at line 45 of file linear-function.hpp.

createData()

template<typename Scalar>

virtual shared_ptr< Data > aligator::LinearFunctionTpl< Scalar >::createData ( ) const

inlineoverridevirtual

Instantiate a Data object.

This override sets the appropriate values of the Jacobians.

Reimplemented from aligator::StageFunctionTpl< Scalar >.

Definition at line 53 of file linear-function.hpp.

Member Data Documentation

A_

template<typename Scalar>

MatrixXs aligator::LinearFunctionTpl< Scalar >::A_

Definition at line 15 of file linear-function.hpp.

B_

template<typename Scalar>

MatrixXs aligator::LinearFunctionTpl< Scalar >::B_

Definition at line 16 of file linear-function.hpp.

d_

template<typename Scalar>

VectorXs aligator::LinearFunctionTpl< Scalar >::d_

Definition at line 17 of file linear-function.hpp.

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The documentation for this struct was generated from the following file:

• include/aligator/modelling/linear-function.hpp